CN102271933B - System and method for mounting a tire and a wheel - Google Patents
System and method for mounting a tire and a wheel Download PDFInfo
- Publication number
- CN102271933B CN102271933B CN200980153220.5A CN200980153220A CN102271933B CN 102271933 B CN102271933 B CN 102271933B CN 200980153220 A CN200980153220 A CN 200980153220A CN 102271933 B CN102271933 B CN 102271933B
- Authority
- CN
- China
- Prior art keywords
- tire
- wheel
- function part
- tyre bead
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C25/00—Apparatus or tools adapted for mounting, removing or inspecting tyres
- B60C25/01—Apparatus or tools adapted for mounting, removing or inspecting tyres for removing tyres from or mounting tyres on wheels
- B60C25/05—Machines
- B60C25/132—Machines for removing and mounting tyres
- B60C25/135—Machines for removing and mounting tyres having a tyre support or a tool, movable along wheel axis
- B60C25/138—Machines for removing and mounting tyres having a tyre support or a tool, movable along wheel axis with rotary motion of tool or tyre support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C25/00—Apparatus or tools adapted for mounting, removing or inspecting tyres
- B60C25/01—Apparatus or tools adapted for mounting, removing or inspecting tyres for removing tyres from or mounting tyres on wheels
- B60C25/05—Machines
- B60C25/0515—Automated devices, e.g. mounting robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C25/00—Apparatus or tools adapted for mounting, removing or inspecting tyres
- B60C25/01—Apparatus or tools adapted for mounting, removing or inspecting tyres for removing tyres from or mounting tyres on wheels
- B60C25/05—Machines
- B60C25/132—Machines for removing and mounting tyres
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49481—Wheel making
- Y10T29/49492—Land wheel
- Y10T29/49494—Assembling tire to wheel body
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Tires In General (AREA)
- Testing Of Balance (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Automatic Assembly (AREA)
- Tyre Moulding (AREA)
Abstract
A system (200) for mounting a tire (T) and a wheel (W) is disclosed. The system (200) includes a robotic arm (202) pivotably-connected (P1-P6) to an end effector (204). The system (200) also includes a tire-supporting portion (208) including a support surface (210) and a pair of wheel-engaging and tire-manipulating portions (216) disposed upon the support surface (210). The pair of wheel-engaging and tire-manipulating portions (216) includes a first wheel-engaging and tire-manipulating portion (216a) fixedly-disposed relative the support surface (210) and a second wheel-engaging and tire-manipulating portion (216b) movably-disposed (Y, Y') relative the support surface (210).
Description
Technical field
The present invention relates to tire and vehicle wheel component, and for the system and method for mounting tyre and wheel.
Background technology
Automation tools for mounting vehicle tire and wheel of vehicle can obtain conventionally.Some such instruments are for example designed in auto repair shop device, and wherein for example the tire wheel dismounting/mounting tools of small size is " full automatic ", thereby continuously tire and wheel are delivered to the equipment of mounting tyre and wheel.
Although said method and other conventional approach for mounting vehicle tire and wheel of vehicle are efficiently, these methods need very large fund input to buy and attending device.The present invention is by proposing a kind of straightforward procedure for mounting vehicle tire and wheel of vehicle to overcome the defect relevant with prior art with the instrument of minimum number.
Accompanying drawing explanation
Referring now to accompanying drawing, the present invention is described by way of example, wherein:
Figure 1A-1C shows the Apparatus and method for for mounting vehicle tire and wheel of vehicle of the first exemplary embodiment according to the present invention;
Fig. 2 A-2D shows the Apparatus and method for for mounting vehicle tire and wheel of vehicle of the second exemplary embodiment according to the present invention;
Fig. 3 has provided according to the top view of the series of steps for mounting vehicle tire and wheel of vehicle of Fig. 2 A-2D;
Fig. 4 A-4D has provided according to an exemplary embodiment of the present invention the series of steps for mounting vehicle tire and wheel of vehicle;
Fig. 5 A-5D has provided according to the top view of the series of steps for mounting vehicle tire and wheel of vehicle of Fig. 4 A-4D;
Fig. 6 has provided according to an exemplary embodiment of the present invention the environmental view for the system of mounting vehicle tire and wheel of vehicle;
Fig. 7 A-7E has provided the series of steps for mounting vehicle tire and wheel of vehicle according to system shown in Figure 6;
Fig. 8 has provided the environmental view of system of Fig. 6-7D of mounting vehicle tire and wheel of vehicle;
Fig. 9-10 have provided according to the transparent view of the system for mounting vehicle tire and wheel of vehicle of the embodiment of the present invention;
Figure 11 A-11G is the part viewgraph of cross-section generally along the line 11A-11A intercepting of Fig. 9, and it has provided for utilizing according to an exemplary embodiment of the present invention the series of steps for the system of Fig. 9-10 of mounting vehicle tire and wheel of vehicle;
Figure 11 H-11J has provided according to an exemplary embodiment of the present invention according to a series of top views of the system of the line 11H-11J of Figure 11 D-11F;
Figure 11 K is the enlarged drawing of part in the corresponding circle of Figure 11 A;
Figure 12 A-12H has provided for utilizing according to an exemplary embodiment of the present invention the series of steps for the system of Fig. 9-10 of mounting vehicle tire and wheel of vehicle; And
Figure 12 I-12L has provided according to an exemplary embodiment of the present invention according to a series of top views of the system of the line 12I-12L of Figure 12 D-12G.
The specific embodiment
These accompanying drawings have provided according to the exemplary embodiment of the system and method for mounting tyre and wheel of the embodiment of the present invention.Based on above, conventionally understand vocabulary used herein just for convenient, and those of ordinary skills should give for describing term broadest sense of the present invention.
Referring to Figure 1A-3, show the system for mounting tyre T and wheel W according to embodiment, its enerally designated 10.Although be from keeping tire (with respect to wheel) to fix and handle wheel wheel is installed to interpre(ta)tive system 10 in the context tire.Yet should be understood that and can also utilize system 10 to keep wheel (with respect to tire) to fix and handle tire so that tire is installed on wheel.In installation process arbitrarily, system 10 can produce the tire wheel assembly of installing wholly or in part, TW (referring to for example Fig. 1 C, 3,4D, 6,8).
Need emphasis to note, the present invention is without use the conventional mounting instrument (being sometimes known as mounting tools, pressure running roller, tool bag or similar title) using when tire is installed on wheel.It is more accurately that this aspect of the present invention is appeared as to " exempting from instrument " installation system.In one embodiment, the present invention can also be understood as that a kind of installation system, and wherein wheel and tire are handled so that they play the mode of the effect of mounting tools (or at least as part of mounting tools).In one embodiment, one of tire or wheel are by prime mover driven, and another maintenance of tire or wheel is driven.Do not have other primary mover to be used to energy drawing-in system so that wheel is installed on tire.There is a great difference in this method and orthodox method, all orthodox methods all will be used instrument (such as tool bag etc.) that tire is installed on wheel.
In one embodiment, tire T and wheel W " part " installs one of tyre bead B1, the B2 can comprise tire T partially or completely around the circumference W of wheel W
carrange (for example,, referring to Fig. 1 C and 3).In one embodiment, tire T and wheel W " completely " installs one of tyre bead B1, the B2 can comprise tire T fully around the circumference W of wheel W
carrange (for example,, referring to Fig. 4 D and 6).In one embodiment, tire T and wheel W " completely " installs and can also comprise two tyre bead B1, the B2 of tire T completely around the circumference W of wheel W
carrange (for example,, referring to Fig. 8).Therefore the installation that, is appreciated that tire T and wheel W can comprise the circumference W around tire T
cone or more tyre bead B1, B2 are set partially or completely, and tire T and wheel W can be mounted according to the mode of any expectation, for other processing of follow-up station (not shown), described follow-up station can comprise that for example matched indicia, inflation, the tyre bead of mounted tire wheel assembly TW are laid, harmony is tested and balance.
First referring to Figure 1A, system 10 comprises wheel supporting arm component 12 generally, and it comprises rotational actuator 14, and actuator 14 is connected between matrix 16 and axle 18.Axle 18 is connected with wheel W, for example, be connected with the center hub of wheel W.
As shown in the figure, tire T comprises the first tyre bead B1 and the second tyre bead B2.Axis A
t-A
tthe center-point or the S. A. that run through tire T.Hereinafter by axis A
t-A
tbe called tire axle.
As shown in the figure, wheel W comprises the first bead seats S1 that is suitable for receiving and laying the first tyre bead B1, and the second fetus side seat S2 that is suitable for receiving and laying the second tyre bead B2.Be appreciated that the circumference W of wheel W
ccomprise the first and second bead seats S1, S2.
Axis A
w-A
wcenter-point and the rotation axis that can run through wheel W.Hereinafter by axis A
w-A
wbe called wheel axis.
Matrix 16 can be connected with actuator (it is designated as 25 generally), and described actuator can move whole wheel supporting arm component 12 in three dimensional space, and mobile wheel W correspondingly.As shown in the figure, wheel axis A
w-A
wrun through wheel supporting arm component 12, and correspondingly, the motion of the wheel supporting arm component 12 being caused by actuator 25 also causes wheel axis A
w-A
wmotion.
In one embodiment, actuator 25 can make wheel supporting arm component 12 move along any direction, motion M (for example, referring to Figure 1A-1C) such as generally linear, in one embodiment, make wheel supporting arm component 12 with the form motion of precession campaign (precessional motion) P1-P4 (for example, referring to Fig. 2 A-3), or make in one embodiment wheel supporting arm component 12 with the form motion of descending motion P (for example, referring to Fig. 4 A-5D), or in one embodiment with the rotatablely move form motion of (for example, referring to Fig. 7 A-7E) of non-precession.Actuator 25 can be the automation equipment (such as robot) of being arranged by treater (not shown), or mode as an alternative, is to be monitored and the manual operation equipment of physical operations by personnel's (not shown).
In one embodiment, as shown in Figure 1A-1C, supporting arm assembly 12 waves, declines according to the direction of arrow M or otherwise motion.Motion M can be the combination (comprising motion of translation and pendular movement) of any motion or motion.As shown in Figure 1A, assembly 12 makes wheel W approach tire T to move.Yet, in Figure 1B, assembly 12 make the recessed core DC of wheel W approach tire T the first tyre bead B1 move.Referring to Fig. 1 C/2A, assembly 12 moves to the recessed core DC of wheel W near the first tyre bead B1 of tire T, so that a part of the first tyre bead B1 of tire T is firmly pressing the part at the recessed center of wheel W.
As shown in Figure 2 A, cause the further motion of assembly 12 and wheel W at actuator 25 before, actuator 25 is arranged to wheel axis A by wheel W with respect to tire T
w-A
wbe tilt (that is, with tire axle A
t-A
tnot parallel).In one embodiment, then actuator 25 can make wheel pivot arm assembly 12 and correspondingly make wheel W and wheel axis A
w-A
wwith respect to tire T and tire axle A
t-A
tmobile, according to the direction of arrow P 1-P4, scan out a precession campaign (Fig. 2 A-3).Conventionally, by following motion, define precession campaign P1-P4, that is: wheel axis is tilted about tire axle, then make wheel axis A
w-A
waround tire axle A
t-A
trotation, makes wheel axis A
w-A
waround tire axle A
t-A
tmotion scan out a region that limits cone surface.
First referring to Fig. 2 A, actuator 25 can make wheel pivot arm assembly 12 about tire T precession wheel W is for example positioned to " 9 o ' clock position " (for example, referring to Fig. 3) so that wheel W moves to " 12 o ' clock position " (for example, referring to Fig. 3) about tire T according to the clockwise direction precession of arrow P 1.Then, seen in Fig. 2 B, actuator 25 can make wheel pivot arm assembly 12 about tire T precession wheel W is for example positioned to " 12 o ' clock position " so that wheel W moves to " 3 o ' clock position " about tire T according to the clockwise direction precession of arrow P 2.Then, seen in Fig. 2 C, actuator 25 can make wheel pivot arm assembly 12 about tire T precession wheel W is for example positioned to " 3 o ' clock position " so that wheel W moves to " 6 o ' clock position " about tire T according to the clockwise direction precession of arrow P 3.Then, seen in Fig. 2 D, actuator 25 can make wheel pivot arm assembly 12 about tire T precession wheel W is for example positioned to " 6 o ' clock position " so that wheel W moves to " 9 o ' clock position " about tire T according to the clockwise direction precession of arrow P 4.
Although described the motion of wheel supporting arm component 12 and wheel W with discontinuous step in Fig. 2 A-2D, yet will understand, precession campaign P1-P4 can be continuous and smooth.In addition, be appreciated that precession campaign P1-P4 is not limited to cw motion, and mode as an alternative, precession campaign P1-P4 can carry out in the counterclockwise direction.In addition, the reference of above-mentioned specific " clock position " about wheel W and/or wheel supporting arm component 12 is just for convenient interrelated by the content shown in Fig. 2 A-2D and Fig. 3, and when mounting tyre T and wheel W, the invention is not restricted to specific " clock " R point, reference position or end position.
Shown in Fig. 2 A-3 and during the precession campaign P1-P4 describing, at least one in tyre bead B1, the B2 of tire T is pulled up, and at least part of circumference W around wheel W
carrange.In one embodiment, the first tyre bead B1 can be elongated, and near the first bead seats S1, arranges at least partly.Once tyre bead B1 is elongated near bead seats S1, wheel axis A
w-A
wwith tire axle A
t-A
tcan almost coaxial.Therefore, precession campaign P1-P4 can cause the follow-up partially or completely installation of tire T and wheel W.Once it is upper that tire T is installed to wheel W, the tire T of the almost coaxial of installing and wheel W can be moved to another station (not shown), for matched indicia, inflation and balance.
During above-mentioned tire/wheel fitting operation, being appreciated that if desired can be by the axial end T of tire T
aor its excircle T
ckeep tire T, make wheel W about tire T precession campaign, as described above simultaneously.Yet, be appreciated that and can occur contrary situation, because can keep wheel W motionless, make tire T about wheel W precession campaign simultaneously.
Referring now to Fig. 4 A-5D,, show the system for mounting tyre T and wheel W according to embodiment, its enerally designated 100.System 100 is substantially similar with system 10, and its reason is that system 100 comprises the precession campaign P1-P4 by means of the wheel W of actuator 25 and wheel supporting arm component 12; Yet system 100 (is designated as A by the precession campaign P1-P4 of the wheel W of the motion by means of supporting arm assembly 12 and supporting arm assembly 12 along axis generally simultaneously
p-A
p) axial descending motion mix.Hereinafter by axis A
p-A
pbe called decline axis.
Referring to Fig. 4 A, wheel supporting arm component 12 can be arranged to basic and similar with description shown in Fig. 1 C/2A.The axial end T of tire T
acan be kept by axial support surface S, and against axial support surface S.
As shown in Fig. 4 A-5C, wheel supporting arm component 12 and wheel W can be simultaneously according to the precession campaign shown in arrow P 1-P4 and according to the direction of arrow P along decline axis A
p-A
paxial descending motion in the mode of hybrid motion, move.Although above described according to the hybrid motion of the direction of arrow P 1-P4 and P, be appreciated that this hybrid motion that the invention is not restricted to assembly 12 and wheel W; For example, be appreciated that when wheel W moves in the mode of precession campaign P1-P4, tire T can move towards wheel W vertically, thereby when the axial location that keeps wheel W is constant, makes tire T have the axial motion substantially contrary with wheel W.Therefore, be appreciated that wheel W can axially do precession campaign independently when tire T is vertically when wheel W moves.
As continuous in each in Fig. 4 A-4D is shown in the drawings, when the hybrid motion P1-P4 by wheel W and P advanced tire T or be otherwise installed to wheel W when upper, according to the wheel axis A of angle θ
w-A
wwith tire axle A
t-A
tbetween angular separation to be reduced to be zero substantially, make wheel axis A
w-A
wwith tire axle A
t-A
tassemble each other, so wheel axis A
w-A
wwith tire axle A
t-A
talmost coaxial.
As shown in Fig. 4 D and 5D, it is upper that tire T can be installed to wheel W at least partly, makes the first tyre bead B1 around the circumference W of wheel W
carrange.Referring to Fig. 6, the tire T that wheel supporting assembly 12 can be installed part about wheel W moves to final processing stations (being designated as generally 150), it is upper that it is installed to wheel W completely by tire T, thus by the first and second tyre bead B1, B2 the circumference W around wheel W
carrange.
In one embodiment, final processing stations 150 generally includes a plurality of ground connection rollers (it is designated as 152a-152c generally), and " seesaw type roller " (it is designated as 154 generally) of pivotable.Seesaw type roller 154 is associated to allow " seesaw type " motion of the up/down pivotable of seesaw type roller 154 with actuator 156.In one embodiment, ground connection roller 152a-152c and seesaw type roller 154 are around the axial end T of tire T
acircumference W
carrange.
In one embodiment, ground connection roller 152a is configured to substantially relative with seesaw type roller 154 along circumference.Although only show 3 ground connection roller 152a-152c, be appreciated that the ground connection roller 152a-152c that can comprise any desired amt in the design of final processing stations 150.
In operation, referring to Fig. 7 A, tire T and wheel W that wheel supporting assembly 12 is installed part according to the direction of arrow Z shift to final processing stations 150, so that the axial end T of tire T
acontact ground connection roller 152a-152c and seesaw type roller 154.Then, actuator 156 from move to upwards position U to upper/lower positions D, promotes the axial end T of tire T by seesaw type roller 154 with the direction along away from ground connection roller 152a-152c
aat least a portion.
Referring to Fig. 7 B, wheel supporting assembly 12 makes tire T that part installs and wheel W around axis A
r-A
rrotation, described axis A
r-A
rwith axis A
t-A
t, A
w-A
wsubstantially coaxial.Hereinafter by axis A
r-A
rthe S. A. that is called final processing stations.Axial end T due to tire T
acontact with seesaw type roller 154 with ground connection roller 152a-152c, rotatablely moving of wheel supporting assembly 12 forwards ground connection roller 152a-152c and seesaw type roller 154 to from wheel W and tire T.
The tire T and the wheel W that when part, install start the rotation axis A around final processing stations
r-A
rduring rotation, the upwards position U of seesaw type roller 154 impels the second tyre bead B2 to start the circumference W around wheel W near seesaw type roller 154 parts
carrange (for example, referring to Fig. 7 B).On this position, the second tyre bead B2 of 5% circumference W around wheel W allegedly has an appointment
carrange.
Then, as shown in Fig. 7 C, the close circumference W from the further part of the nearest ground connection roller 152c of seesaw type roller 154 around wheel W of the second tyre bead B2
carrange.If desired, actuator 156 can improve the upwards position U of seesaw type roller 154, with the circumference W around wheel W
cfurther promote the second tyre bead B2.On this position, the second tyre bead B2 of 10% circumference W around wheel W allegedly has an appointment
carrange.
Then, as shown in Fig. 7 D, the second tyre bead B2 is the circumference W around wheel W near the further part of ground connection roller 152b quilt
carrange, wherein ground connection roller 152b and ground connection roller 152c compare from seesaw type roller 154 farther, but compare more close seesaw type roller 154 with ground connection roller 152a.If desired, actuator 156 can further improve the upwards position U of seesaw type roller 154, with further around the circumference W of wheel W
cpromote the second tyre bead B2.On this position, the second tyre bead B2 of 15% circumference W around wheel W allegedly has an appointment
carrange.
Then, as shown in Fig. 7 E, the second tyre bead B2 can be suddenly all around the circumference W of wheel W
carrange, make the close circumference W from seesaw type roller 154 ground connection roller 152a farthest around wheel W of the second tyre bead B2
carrange.The the second tyre bead B2 arranging due to part press exponential law around wheel W setting (that is, around the circumference W of wheel W
cthe percentum of the second tyre bead B2 arranging rises to 100% from 15%), can hear loud smack one's lips sound or cloop, so that operating personal is known the second tyre bead B2 around the circumference W of wheel W
carrange.Referring to Fig. 8, then make wheel supporting assembly 12 move according to the direction of the arrow Z ' of the opposite direction with arrow Z, so that the tire wheel assembly TW being installed is moved apart to final processing stations 150, to accept further to process at one or more follow-up matched indicia/inflation/bead seats put/balance station places.
First referring to Fig. 9, show a kind of according to the embodiment of the present invention for tire T is installed to the system on wheel W, it is designated as 200 generally.In one embodiment, system 200 comprises robots arm 202, and it comprises the end-effector 204 on the end 206 that is located at robots arm 202.With regard to its function, end-effector 204 keeps and fixes releasedly the wheel W of close robots arm's 202 end 206.In addition, in one embodiment, system 200 can comprise tire support component (it is designated as 208 generally), and for support tire T, example as shown in Figure 10.
In one embodiment, tire support component 208 conventionally can be by comprising that the desk of the stayed surface 210 being supported by a plurality of legs 212 defines.In one embodiment, tire support component 208 can comprise that the wheel of mixing engages and tire support apparatus 214, and it has one or more wheels junction surface (enerally designated 216), for engaging the circumference W of wheel W
cone or more parts, axial end/sidewall T of support tire T simultaneously
a.
In one embodiment, this one or more wheels junction surface 216 comprises the 216a of first and second portion 216b.In one embodiment, the first and second part 216a, 216b each comprise respectively housing 222a, 222b.Each housing holds respectively a plurality of wheels or the roller 218 that runs through a plurality of openings 220 on each housing 222, for engaging the axial end/sidewall T with support tire T
a.
In one embodiment, one or more can being fixed with respect to stayed surface 210 in the first and second part 216a, 216b, or one or more can the movement about the plane parallel conventionally being defined by stayed surface 210 in the first and second part 216a, 216b as an alternative.In one embodiment, the 216a of first can comprise vertical flange portion 224a, for about the fixing 216a of first of stayed surface 210.In addition, in one embodiment, second portion 216b can comprise vertical flange portion 224b, for directly supporting moveable part 216b.Therefore, the 216a of first is above known as fixed part hereinafter, and second portion 216 is known as moveable part hereinafter; Yet, be appreciated that fixed part 216a and moveable part 216b have represented one embodiment of the present of invention, and system 200 is not limited to comprise one and a plurality of fixed parts and/or moveable part.
In one embodiment, moveable part 216b can be along the direction traveling priority of arrow Y-Y '.Moveable part 216b allows the motion of moveable part 216b along the motion of arrow Y-Y ' direction, this will obtain more detailed explanation.
In one embodiment, be appreciated that robots arm 202 can be about tire support component 208 along the one or more movements in the direction of arrow X, X ', Y, Y ' and Z, Z '.As shown in the figure, the direction of arrow X, X ' is substantially vertical with the direction of arrow Y, Y ', and the basic quadrature of direction of the direction of arrow Z, Z ' and arrow X, X ', Y, Y '.
In one embodiment, moveable part 216b can the direction along arrow Y, Y ' move on the guide rail 226 of basic horizontal, and its middle guide 226 is configured to substantially vertical with the direction of arrow X, X '.In one embodiment, the guide rail 226 of basic horizontal runs through the passage being formed in the second substantially vertical flange 224b.In one embodiment, the guide rail 226 of basic horizontal also fix/is connected on the first substantially vertical flange 224a.
In one embodiment, the second substantially vertical flange 224b can comprise a pair of recess 228, and wherein each recess receives respectively the track 230 stretching out from stayed surface 210.In one embodiment, when the second substantially vertical flange 224b is during along the motion of one of the direction of arrow Y, Y ', the second substantially vertical flange 224b is subject to track 230 and guide rail 226 guiding.Vertically flange 224b can be guided along track 230 and/or guide rail 226 under the help of any friction-decreasing device (such as ball bearing of main shaft, plain bearing, lubricant or analogue).
Referring now to Figure 11 A,, described a kind of according to the method for utilizing system 200 mounting tyre T and wheel W of the embodiment of the present invention.In one embodiment, wheel W is fixed near robots arm 202 end 206 releasedly, axial end/sidewall T of tire T
aa part is supported 208 surface 210 supports by tire, and a part is also subject to wheel junction surface 216a, 216b support.In one embodiment, as axial end/sidewall W of wheel W
abe configured at the beginning when substantially parallel with stayed surface 210, originally by axial end/sidewall T of tire T
aabout stayed surface 210 into θ angle lean on fixing and moveable part 216a, 216b.
In one embodiment, robots arm 202 motion can be controlled by the actuator (not shown) substantially similar to above-mentioned actuator 25; Yet, being appreciated that the control that the control of robots arm 202 motion is not limited to actuator, robots arm 202 can be controlled, move or be arranged by the equipment of any expectation in any desired way.In addition, in one embodiment, robots arm 202 can comprise connection/pivotal point (being designated as generally 232), its about robots arm 202 removable/be pivotally connected to end-effector 204; Therefore, be appreciated that about the robots arm 202 of connection/pivotal point 232 and the one or more motion in end-effector 204 and can be controlled, for example, by above-mentioned actuator.
Referring to Figure 11 A, when robots arm 202 and end-effector 204 conventionally according to the direction of arrow Z ' when tire support component 208 moves, end-effector 204 can be along the direction of arrow P 1 about connection/pivotal point 232 conter clockwise pivotables, now robots arm 202 along the direction of arrow P 2 about connection/pivotal point 232 cw pivotables, wheel W is put near tire T, as shown in Figure 11 B.In one embodiment, as shown in Figure 11 B, a part of the recessed core DC that causes wheel W along moving of the direction of arrow P 1, P2 is moved between the first and second tyre bead B1, the B2 of tire T.
With further reference to Figure 11 B, end-effector 204 then along the direction of arrow P 3 about connection/pivotal point 232 cw pivotables, now robots arm 202 along the direction of arrow P 4 about connection/pivotal point 232 conter clockwise pivotables, further to adjust the position of wheel W about tire T, as shown in Figure 11 C.In one embodiment, as shown in Figure 11 C, along moving of the direction of arrow P 3, P4, cause the whole bead seats S (by S2 ' and S2 " form) of wheel W to be placed between the first and second tyre bead B1 (by B1 ' and B1 " form) of tire T and B2 (by B2 ' and B2 " formation), now the first tyre bead B1 of tire T is placed between the first and second bead seats S1, the S2 of wheel W.According to the elasticity of tire (and other factors), axial end/sidewall T of tire T
acan move apart fixing and moveable part 216a, 216b (that is, not supported by they).
With further reference to Figure 11 C, when robots arm 202 and end-effector 204 along the direction of arrow Z ' when tire support component 208 moves, end-effector 204 along the direction of arrow P 5 about connection/pivotal point 232 cw pivotables, now robots arm 202 along the direction of arrow P 6 about connection/pivotal point 232 conter clockwise pivotables.In one embodiment, as shown in Figure 11 D, moving of direction along arrow P 5, P6 causes moving of wheel W and tire T, thereby a part of B1 ' that handles the first tyre bead of tire T is located near the first bead seats S1, simultaneously by the second portion B1 of the first tyre bead of tire T " move on to the close second fetus side seat S2 of wheel W " recessed core DC near.And, along move (referring to Figure 11 D and the 11H) of the direction of arrow P 5, P6, cause the motion of wheel W and tire T, thereby a part of B2 ' of the second tyre bead of tire T is placed close to the recessed core DC of wheel W, now another part B2 of the second tyre bead of tire T " be placed on axial end/sidewall W of wheel W
anear.
In addition, in one embodiment, as shown in Figure 11 D, along the moving of direction of arrow P 5, P6, cause axial end/sidewall W of wheel W
abe configured to substantially parallel with the stayed surface 210 of tire support component 208, and certain distance D1 with interval.In addition, as shown in Figure 11 D, along moving of the direction of arrow P 5, P6, cause the recessed core DC of wheel W and stayed surface 210 D2 that keeps at a certain distance away, uppermost point/the mating surfaces 234 of a plurality of wheels or roller 218 and stayed surface 210 D3 that keeps at a certain distance away, and distance D 3 is more than or equal to distance D 2 substantially.
With further reference to Figure 11 D, in one embodiment, along the moving of direction of arrow P 5, P6, cause tire T to be handled about wheel W, specific as follows.First, in one embodiment, the one or more mating surfaces 234 in a plurality of wheels or roller 218 engages axial end/sidewall W of tire T
a, make axial end/sidewall W of tire T
aat least a portion and stayed surface 210 spacing distance D3.Then, wheel W is dropped to position D1, make when observing from top (referring to Figure 11 H), at least a portion of the excircle of wheel W is between wheel junction surface 216a and 216b.
As shown in Figure 11 D-11F, in one embodiment, then robots arm 202 moves past tire support component 208 along the direction of arrow P 7, maintains axial end/sidewall W of wheel W according to distance D 1 simultaneously
aand the spacing between the stayed surface 210 of tire support component 208.As shown in for example Figure 11 E and 11F, along further the moving of direction of arrow P 7, cause the axial end/sidewall T about 234 couples of tire T of uppermost point/mating surfaces of above-mentioned a plurality of wheels or roller 218
afurther manipulation, with the second tyre bead B2 that further makes tire T, at least near the second fetus side seat S2 of wheel W, be located in.
In one embodiment, as shown in Figure 11 D-11F, arrow P 7 towards substantially identical with arrow X.Yet referring to Figure 11 H-11J, in one embodiment, robots arm 202 can comprise along the moving of direction of arrow P 7: the basic linear portion P7 of one or more directions along arrow X
l1, P7
l2; And one or more basic non-rectilinear section P7
nL, it comprises each component (for example, referring to Figure 11 H) in arrow X and Y, or as an alternative, comprises each component (for example seeing Figure 11 J) in arrow X and Y '.
In one embodiment, for example, the basic non-rectilinear section P7 of arrow P 7
nLcircumference W from wheel W
cin joint and around the edge surface 236a of the housing 222 of fixed part 216a, move the part of (or " rolling ").In one embodiment, the circumference W of wheel W
ccan comprise one or more in the second fetus side seat S2 of wheel W or recessed core DC.Although describe hereinbefore the circumference W of wheel W
c" roll across " edge surface 236a, but be appreciated that wheel W not necessarily will be about housing 222 or about the rotation axis A " rollings " of wheel, but robots arm 202 and end-effector 204 along cardinal principle by basic non-rectilinear section P7
nLthe path movement of definition, thus provide wheel " to roll across " phenomenon of edge surface 236a.Yet, although described wheel W, be not in relation to housing 222 " rolling ", be appreciated that one or more can the movement in any desired way in robots arm 202 and end-effector 204, to allow wheel W to move along the direction of arrow P 1-P7.
As described in Figure 11 H, as the circumference W of wheel W
ca part engage and during the edge surface 236a of " rolling across " fixed part 216a, the respective edges surface 236b of moveable part 216b also contacts the circumference W of wheel W
ca part, the circumference W of this part and wheel W
cthe part of edge surface 236a of contact fixed part 216a directly relative.Correspondingly, when wheel W " rolls across " the edge surface 236a of fixed part 216a and along non-rectilinear section P7
nLwhen mobile, moveable part 216b along the direction of arrow Y by the circumference W of wheel W
ca part push away fixed part 216a, the circumference W of wheel W now
cengage the edge surface 236b of moveable part 216b.
As shown in Figure 11 I, when the axial centre A of wheel W passes through the guide rail 226 of basic horizontal, along non-rectilinear section P7
nLmotion conventionally peak, so moveable part 216b no longer moves apart fixed part 216a along the direction of arrow Y.Then, as shown in Figure 11 J, continue along non-rectilinear section P7
nLdo further motion, moveable part 216b is moved, until fixing and edge surface 236a, the 236b of moveable part 216a, 216b no longer contact the circumference W of wheel W towards fixed part 216a along the direction of arrow Y ' (itself and arrow Y opposite direction)
crelative part (for example, referring to Figure 11 G).Moveable part 216b can be biased, and uses spring (not shown), to push it against fixed part 216a such as passing through.
In one embodiment, referring to Figure 11 G, once robots arm 202 along direction mobile wheel W and the tire T of arrow P 7, the second tyre bead B2 of tire T can be arranged near one or more in the recessed center DC of wheel W and second fetus side seat S2 completely.In addition, as progressively seen from Figure 11 C to Figure 11 G, as axial end/sidewall T of a plurality of wheels or roller 218 joint tire T
afirst 1/3 (for example, referring to Figure 11 D), first 1/2 (for example, referring to Figure 11 E) and when last 1/3 (for example, referring to Figure 11 F), the first tyre bead B1 of tire T can further be moved or be located in at least the first bead seats S1 near wheel W.Once tire T is installed on wheel W, for example, shown in Figure 11 G, robots arm 202 can be pushed into follow-up work station so that tire T is inflated by tire T and wheel W, or as an alternative, if desired, end-effector 204 can discharge wheel W from robots arm 202.
Referring now to Figure 12 A,, the method for utilizing system 200 mounting tyre T and wheel W according to the another kind of the embodiment of the present invention has been described.Robots arm 202 and one or more in end-effector 204 according to the direction of arrow Q1, Q2 about be connected/pivotal point 232 pivotables, rather than above-mentioned make robots arm 202 and one or more in end-effector 204 according to arrow P 1-P6 about be connected/pivotal point 232 pivotables.In addition, as described in hereinbefore, the one or more mode of motion motions with " decline and inswept " according to the mode of arrow Z ' and X in robots arm 202 and end-effector 204.
First referring to Figure 12 A, when robots arm 202 and end-effector 204 according to the direction of arrow Z ' when tire support component 208 moves, end-effector 204 can be according to the direction of arrow Q1 about connection/pivotal point 232 cw pivotables, now robots arm 202 according to the direction of arrow Q2 about connection/pivotal point 232 cw pivotables, with near first of tire T/upper axial end/sidewall T
a1axial end/sidewall W of wheel W is set
a, as shown in Figure 12 B.In one embodiment, as shown in Figure 12 C, according to the further motion of the direction of arrow Z ', cause a part of the recessed core DC of wheel W to move a part of B1 ' near the first tyre bead of tire T, now a part of S2 of the second fetus side seat of wheel W is positioned between the first and second tyre bead B1 ', the B2 ' of tire T.
Referring to Figure 12 D, robots arm 202 and end-effector 204 cause a part of B2 ' of the second tyre bead of tire T to be substantially arranged in recessed core DC and the second fetus side seat B2 of wheel W according to the further motion of the direction of arrow Z ' " one or more near, axial end/sidewall W of wheel W now
aa part be positioned at first of tire T/upper axial end/sidewall T
a1a part near, a part that makes wheel W is a part of " extruding " tire T obviously, thereby makes a part of B1 of the first tyre bead of tire T " and a part of B2 of the second tyre bead of tire T " be substantially close to each other or close.In addition, as shown in Figure 12 D, robots arm 202 and end-effector 204 cause a part of B1 ' recessed core DC of wheel W further away from each other of the first tyre bead of tire T according to the motion of the direction of arrow Z ', and the first bead seats S1 of more close wheel W.
As above, described in Figure 12 D, robots arm 202 and end-effector 204 complete " decline " motion in above-mentioned " decline and inswept " motion according to the motion of the direction of arrow Z '.Then by start " inswept " motion according to direction mobile robot's arm 202 of arrow Q3, as shown in Figure 12 D-12H.
As shown in Figure 12 I-12L, according to identical towards basic and arrow X of the motion of the direction of arrow Q3, about the direction of arrow P 7, did similar description hereinbefore.In addition, in one embodiment, robots arm 202 can comprise according to the motion of the direction of arrow Q3: one or more according to the basic linear portion Q3 of the direction of arrow X
l1, Q3
l2; And one or more basic non-rectilinear section Q3
nL, it comprises each component (for example, referring to Figure 12 I and 12J) in arrow X and Y, or as an alternative, comprises each component (for example, referring to Figure 12 L) in arrow X and Y '.
As shown in Figure 12 D-12L, fixing and moveable part 216a, 216b act on tire T and wheel W, in above, in Figure 11 A-11J, did similarly to describe, and made the first and second tyre bead B1, the B2 of tire T finally be located in at least the first and second bead seats S1, the S2 (for example, shown in Figure 12 H) near wheel W.Be appreciated that, cardinal principle difference between embodiment described in Figure 11 A-11J and Figure 12 A-12L is: one or more along according to the multiple directions pivotable of arrow P 1-P6 in robots arm 202 and end-effector 204, with when tire operating process starts by axial end/sidewall W of wheel W
aat least a portion be arranged on (for example, referring to Figure 11 D) between the first and second tyre bead B1, B2, and robots arm 202 and end-effector 204 are " decline " (not interrupted by the one or more pivoting actions that represented by arrow P 1-P6) substantially, with when tire operating process starts, by axial end/sidewall W of wheel W
abe arranged on a part of T of first of tire T/upper axial end/sidewall
a1near, as shown in Figure 12 D.
In one embodiment, be appreciated that the method for describing in Figure 12 A-12L can be better than the method described in Figure 11 A-11J, because lacked a plurality of motions according to the direction of arrow P 1-P6, can save the time of installation process.In addition, in one embodiment, be appreciated that the method for describing in Figure 12 A-12L is applicable to its axial end/sidewall TA
1, TA
2relative thin, softness or there is the tire T of analogue, and method described in Figure 11 A-11J is applicable to its axial end/sidewall TA
1, TA
2relatively hard tire T, depresses the tire travelling such as deficency.Yet, being appreciated that any method is all not limited to the tire T of particular types or type, any method all can be used to the tire T of any kind or type to be installed on wheel W.
Need emphasis to note, the invention proposing in Fig. 9-12G is without use the conventional mounting instrument (such as mounting tools, pressure running roller, tool bag or analogue) using when tire is installed on wheel.It is more accurately that this aspect of the present invention is appeared as to " exempting from instrument " installation system.In one embodiment, the present invention can also be understood as that a kind of installation system, and wherein at least one in wheel and/or tire handled so that they play the mode of the effect of mounting tools (or at least play mounting tools a part).In one embodiment, one of tire or wheel are by prime mover driven, and another maintenance passive (that is,, from the strict physical meaning of this word, passive parts are to making any positive work by the parts of prime mover driven).There is a great difference in this method and orthodox method, wherein all orthodox methods all will be used instrument (such as tool bag etc.), and these instruments deform tire in the mode when keeping wheel fixing, tire being installed on wheel.
The present invention is described with reference to some exemplary embodiments.Yet, it will be apparent to one skilled in the art that except above-mentioned those exemplary embodiments, the present invention can also realize with other concrete form.These can realize under the prerequisite that does not deviate from spirit of the present invention.These exemplary embodiments are illustrative, should not be regarded as limiting by any way the present invention.Scope of the present invention is by submitted to claim and be equal to limit, rather than is limited by description above.
Claims (13)
1. for a system for mounting tyre and wheel, it comprises:
Robots arm, it is connected to end-effector pivotly; And
Tire support component, it comprises: stayed surface; The pair of wheels being arranged on stayed surface engages and tire function part;
Wherein said pair of wheels engages and tire function part comprises: the first wheel being fixedly installed with respect to stayed surface engages and tire function part; And the second wheel arranging movably with respect to stayed surface engages and tire function part;
Described system also comprises:
Engage with the first wheel the first basic vertically flange being connected with tire function part, wherein the first basic vertically flange stretches out from stayed surface, and
Engage with the second wheel the second basic vertically flange being connected with tire function part, wherein the second basic vertically flange is supported movably by stayed surface;
Wherein, in the process of installing wheel and tire, the sidewall sections of tire ground is by the support of tire support component, and described sidewall also partly by the first wheel, is engaged and tire function part engages with the second wheel and tire function part supports.
2. the system as claimed in claim 1, it also comprises:
Connect the first basic vertically flange and the second basic vertically basic horizontal flange of flange, wherein the second wheel joint and tire function part are slidably disposed on basic horizontal flange, and wherein this basic horizontal flange extends through the opening being formed in the second basic vertically flange.
3. the system as claimed in claim 1, it also comprises:
The pair of tracks of stretching out from stayed surface, wherein the second basic vertically flange limit has a pair of recess that receives described pair of tracks, and wherein the second basic vertically flange is slidably disposed in described pair of tracks.
4. the system as claimed in claim 1, wherein the first and second wheels engage and tire function part in each comprise:
Housing, the upper surface that it has edge surface and is limited with a plurality of openings; And
A plurality of wheels or roller, it stretches out and through a plurality of openings from housing.
5. system as claimed in claim 4, wherein a plurality of wheels or roller limit a device, this device for axial end/sidewall of engaging and handling tire at least one or more of the first tyre bead of tire and the second tyre bead is placed to one or more in the first bead seats of at least close wheel and second fetus side seat.
6. system as claimed in claim 4, the edge surface of its middle shell is defined for the device of a part for the circumference that engages wheel.
7. for a method for mounting tyre and wheel, it comprises the following steps:
Wheel is fixed on robots arm releasedly;
Tire is arranged on and is comprised on surface-supported tire support component;
Utilize robots arm, wheel alignment is become at least near tire;
The pair of wheels that utilization is arranged on stayed surface engages and tire function part, to engage a part for circumference and the axial end/sidewall of joint and manipulation tire of wheel; And
Also utilize robots arm, to engage and tire function part mobile wheel and tire with respect to described pair of wheels, wherein wheel abuts against described pair of wheels joint and tire function part pulls tire, thus tire is installed on wheel.
8. method as claimed in claim 7, the step wherein wheel being fixed on robots arm releasedly comprises the following steps:
Wheel is fixed on end-effector releasedly, and this end-effector is connected with robots arm's end pivotly in connection/pivot point; And
Make one or more with respect to pivotal point pivotable in robots arm and end-effector.
9. method as claimed in claim 7, wherein utilize robots arm that wheel alignment is become at least further comprising the steps of near the step of tire:
By tire first on the first of tyre bead be positioned at least near wheel first on bead seats,
By tire first on the second portion of tyre bead be positioned at least the recessed core near wheel,
The first of second time tyre bead of tire is positioned to the recessed core of at least close wheel, and
The second portion of second time tyre bead of tire is positioned to the axial end/sidewall of at least close wheel.
10. method as claimed in claim 7, wherein utilize robots arm that wheel alignment is become at least further comprising the steps of near the step of tire:
By tire first on the first of tyre bead be positioned adjacent to wheel first on bead seats,
By a part for the axial end/sidewall of wheel be positioned at tire first near one or more in the part of the second portion of tyre bead and the upper axial end/sidewall of tire, and
The first of second time tyre bead of tire is positioned at least to one or more near in the recessed core of wheel and second time bead seats.
11. methods as claimed in claim 10, wherein a part for the axial end/sidewall of wheel is positioned at tire first near steps one or more in the part of the second portion of tyre bead and the upper axial end/sidewall of tire comprise the following steps:
Obviously push a part for tire, thereby make the first tyre bead of tire and the relative part of the second tyre bead substantially contiguous or close each other.
12. methods as claimed in claim 7, wherein utilize robots arm to comprise the following steps with respect to the step of described pair of wheels joint and tire function part mobile wheel and tire:
Utilize robots arm along path and the non-directional path movement wheel of one or more basic straight lines.
13. methods as claimed in claim 12, wherein, in response to along non-directional path movement wheel, further comprising the steps of:
Make relative part in the circumference of wheel be adjacent to that described pair of wheels engages and the first and second wheels joints of tire function part and each the edge joint in tire function part; And
The first wheel that the second wheel in described pair of wheels joint and tire function part engages and tire function part moves apart or shifts in described pair of wheels joint and tire function part is engaged and tire function part.
Applications Claiming Priority (3)
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| US14198908P | 2008-12-31 | 2008-12-31 | |
| US61/141,989 | 2008-12-31 | ||
| PCT/US2009/069893 WO2010078477A2 (en) | 2008-12-31 | 2009-12-31 | System and method for mounting a tire and a wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102271933A CN102271933A (en) | 2011-12-07 |
| CN102271933B true CN102271933B (en) | 2014-12-10 |
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|---|---|---|---|
| CN200980153220.5A Active CN102271933B (en) | 2008-12-31 | 2009-12-31 | System and method for mounting a tire and a wheel |
Country Status (8)
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| US (2) | US8191600B2 (en) |
| EP (1) | EP2370277B1 (en) |
| JP (1) | JP5675644B2 (en) |
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| CA (1) | CA2745905C (en) |
| MX (1) | MX2011006880A (en) |
| WO (2) | WO2010078438A2 (en) |
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| CN101224696A (en) * | 2007-01-18 | 2008-07-23 | 意大利电气机械建筑协会股份公司 | Tyre mounting/dismounting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| MX2011006880A (en) | 2011-07-20 |
| BRPI0923721A2 (en) | 2016-01-19 |
| WO2010078477A2 (en) | 2010-07-08 |
| CA2745905C (en) | 2013-05-14 |
| CA2745905A1 (en) | 2010-07-08 |
| WO2010078438A3 (en) | 2010-10-21 |
| EP2370277B1 (en) | 2013-04-10 |
| EP2370277A2 (en) | 2011-10-05 |
| US20120216962A1 (en) | 2012-08-30 |
| WO2010078438A2 (en) | 2010-07-08 |
| WO2010078477A3 (en) | 2010-10-21 |
| US8191600B2 (en) | 2012-06-05 |
| CN102271933A (en) | 2011-12-07 |
| JP2012513936A (en) | 2012-06-21 |
| JP5675644B2 (en) | 2015-02-25 |
| US20100163189A1 (en) | 2010-07-01 |
| US8408272B2 (en) | 2013-04-02 |
| EP2370277A4 (en) | 2012-06-06 |
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